@iwsdk/core 1.0.0-rc.0 → 1.0.0-rc.2

package/dist/mcp/ui-debug-tools.js.map

@@ -1 +1 @@
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+{"version":3,"file":"ui-debug-tools.js","sources":["../../src/mcp/ui-debug-tools.ts"],"sourcesContent":["/**\n * Copyright (c) Meta Platforms, Inc. and affiliates.\n *\n * This source code is licensed under the MIT license found in the\n * LICENSE file in the root directory of this source tree.\n */\n\nimport { Component } from '@pmndrs/uikit';\nimport type { Entity } from '../ecs/entity.js';\nimport type { World } from '../ecs/world.js';\nimport type { Object3D } from '../runtime/index.js';\nimport { UIKitDocument } from '../ui/document.js';\nimport { PanelDocument } from '../ui/panel-components.js';\nimport { UIKitMLAsset } from '../ui/uikitml-asset.js';\n\nconst DEFAULT_LIMIT = 50;\nconst MAX_LIMIT = 50;\nconst MAX_PROPERTY_COUNT = 20;\nconst MAX_PROPERTY_NAME_LENGTH = 64;\nconst MAX_SELECTOR_LENGTH = 512;\nconst MAX_SELECTOR_PARTS = 16;\nconst MAX_TRAVERSED_OBJECTS = 10_000;\nconst MAX_STRING_LENGTH = 200;\nconst MAX_SERIALIZED_DEPTH = 3;\nconst MAX_COLLECTION_ITEMS = 20;\nconst PROPERTY_NAME_PATTERN = /^[A-Za-z][A-Za-z0-9]*$/u;\n\nconst DEFAULT_PROPERTIES = [\n  'text',\n  'value',\n  'disabled',\n  'checked',\n  'selected',\n  'display',\n  'visibility',\n  'pointerEvents',\n] as const;\n\nexport interface UiInspectParams {\n  entityIndex: number;\n  selector?: string;\n  properties?: string[];\n  limit?: number;\n}\n\nexport interface UiElementInspection {\n  id?: string;\n  classes: string[];\n  componentType: string;\n  uuid: string;\n  text?: string;\n  state: {\n    active: boolean;\n    clipped: boolean;\n    disabled: boolean;\n    displayed: boolean;\n    hovered: boolean;\n    visible: boolean;\n  };\n  layout: {\n    relativeCenter: [number, number] | null;\n    size: [number, number] | null;\n  };\n  properties: Record<string, unknown>;\n  missingProperties?: string[];\n}\n\nexport interface UiInspectResult {\n  panel: {\n    entityIndex: number;\n    name?: string;\n    assetId?: string;\n    computedSize: { width: number; height: number } | null;\n    targetSize: { width: number; height: number };\n  };\n  selector?: string;\n  elements: UiElementInspection[];\n  total: number;\n  limited: boolean;\n}\n\ninterface SelectorPart {\n  kind: 'class' | 'id';\n  value: string;\n}\n\n/** Inspect stable, live UIKitML elements owned by one ECS panel entity. */\nexport function uiInspect(\n  world: World,\n  params: Record<string, unknown>,\n): UiInspectResult {\n  const { entityIndex, selector, properties, limit } =\n    params as unknown as Partial<UiInspectParams>;\n\n  if (!Number.isInteger(entityIndex) || (entityIndex as number) < 0) {\n    throw new Error(\n      'entityIndex must be a non-negative integer. Use ecs_find_entities to discover the panel entity.',\n    );\n  }\n\n  const normalizedSelector = normalizeSelector(selector);\n  const requestedProperties = normalizeProperties(properties);\n  const normalizedLimit = normalizeLimit(limit);\n\n  const entity = world.entityManager.getEntityByIndex(entityIndex as number);\n  if (!entity || !entity.active) {\n    throw new Error(\n      `Entity ${entityIndex} not found or has been destroyed. Use ecs_find_entities to find active panel entities.`,\n    );\n  }\n\n  const document = findEntityUIKitDocument(entity);\n  if (!document) {\n    throw new Error(\n      `Entity ${entityIndex} does not own a live UIKitML document. Choose an entity whose Object3D contains a UIKitMLAsset or PanelUI document.`,\n    );\n  }\n\n  const candidates = findLiveCandidates(document, normalizedSelector?.parts);\n  const elements = candidates\n    .slice(0, normalizedLimit)\n    .map((component) =>\n      inspectElement(component, requestedProperties, properties !== undefined),\n    );\n  const asset = findUIKitMLAsset(entity.object3D, entity.index);\n\n  return {\n    panel: {\n      entityIndex: entity.index,\n      name: entity.object3D?.name || undefined,\n      assetId: asset?.assetId,\n      computedSize: document.computedSize,\n      targetSize: document.targetSize,\n    },\n    selector: normalizedSelector?.value,\n    elements,\n    total: candidates.length,\n    limited: candidates.length > normalizedLimit,\n  };\n}\n\nfunction normalizeSelector(\n  value: unknown,\n): { value: string; parts: SelectorPart[] } | undefined {\n  if (value == null) {\n    return undefined;\n  }\n  if (typeof value !== 'string') {\n    throw new Error('selector must be a string');\n  }\n  const selector = value.trim();\n  if (selector.length === 0) {\n    throw new Error('selector must not be empty');\n  }\n  if (selector.length > MAX_SELECTOR_LENGTH) {\n    throw new Error(\n      `selector allows at most ${MAX_SELECTOR_LENGTH} characters`,\n    );\n  }\n  const parts = selector.split(/\\s+/u);\n  if (parts.length > MAX_SELECTOR_PARTS) {\n    throw new Error(\n      `selector allows at most ${MAX_SELECTOR_PARTS} descendant parts`,\n    );\n  }\n  if (parts.some((part) => !/^[#.][A-Za-z0-9_-]+$/u.test(part))) {\n    throw new Error(\n      'selector supports only #id, .class, and descendant combinations of those selectors',\n    );\n  }\n  return {\n    value: selector,\n    parts: parts.map((part) => ({\n      kind: part[0] === '#' ? 'id' : 'class',\n      value: part.slice(1),\n    })),\n  };\n}\n\n/**\n * Traverse the current UIKit tree once and match descendant selectors without\n * materializing overlapping subtree results. The object cap bounds both the\n * unfiltered inventory and selector work on an unexpectedly large document.\n */\nfunction findLiveCandidates(\n  document: UIKitDocument,\n  selectorParts?: SelectorPart[],\n): Component<any>[] {\n  const candidates: Component<any>[] = [];\n  const emptyPrefixes = selectorParts?.map(() => false) ?? [];\n  const stack: Array<{\n    object: Object3D;\n    matchedPrefixes: readonly boolean[];\n  }> = [{ object: document.rootElement, matchedPrefixes: emptyPrefixes }];\n  let scheduledObjects = 1;\n\n  while (stack.length > 0) {\n    const { object, matchedPrefixes } = stack.pop()!;\n    let childPrefixes = matchedPrefixes;\n\n    if (object instanceof Component) {\n      if (selectorParts == null) {\n        if (getElementId(object) != null) {\n          candidates.push(object);\n        }\n      } else {\n        const id = getElementId(object);\n        const classes = new Set(getClassNames(object));\n        const nextPrefixes = [...matchedPrefixes];\n        let matchesFullSelector = false;\n\n        for (let index = 0; index < selectorParts.length; index += 1) {\n          const part = selectorParts[index];\n          const matchesPart =\n            part.kind === 'id' ? id === part.value : classes.has(part.value);\n          const completesPrefix =\n            matchesPart && (index === 0 || matchedPrefixes[index - 1]);\n          nextPrefixes[index] ||= completesPrefix;\n          if (index === selectorParts.length - 1) {\n            matchesFullSelector = completesPrefix;\n          }\n        }\n\n        if (matchesFullSelector) {\n          candidates.push(object);\n        }\n        childPrefixes = nextPrefixes;\n      }\n    }\n\n    for (let index = object.children.length - 1; index >= 0; index -= 1) {\n      scheduledObjects += 1;\n      if (scheduledObjects > MAX_TRAVERSED_OBJECTS) {\n        throw new Error(\n          `UIKitML inspection allows at most ${MAX_TRAVERSED_OBJECTS} objects per document`,\n        );\n      }\n      stack.push({\n        object: object.children[index],\n        matchedPrefixes: childPrefixes,\n      });\n    }\n  }\n\n  return candidates;\n}\n\nfunction normalizeProperties(value: unknown): string[] {\n  if (value == null) {\n    return [...DEFAULT_PROPERTIES];\n  }\n  if (!Array.isArray(value) || value.length === 0) {\n    throw new Error('properties must be a non-empty string array');\n  }\n  if (value.length > MAX_PROPERTY_COUNT) {\n    throw new Error(`properties allows at most ${MAX_PROPERTY_COUNT} items`);\n  }\n  const result: string[] = [];\n  for (const property of value) {\n    if (\n      typeof property !== 'string' ||\n      property.length > MAX_PROPERTY_NAME_LENGTH ||\n      !PROPERTY_NAME_PATTERN.test(property)\n    ) {\n      throw new Error(\n        `each property must be a camelCase name of at most ${MAX_PROPERTY_NAME_LENGTH} characters`,\n      );\n    }\n    if (!result.includes(property)) {\n      result.push(property);\n    }\n  }\n  return result;\n}\n\nfunction normalizeLimit(value: unknown): number {\n  if (value == null) {\n    return DEFAULT_LIMIT;\n  }\n  if (\n    !Number.isInteger(value) ||\n    (value as number) < 1 ||\n    (value as number) > MAX_LIMIT\n  ) {\n    throw new Error(`limit must be an integer from 1 to ${MAX_LIMIT}`);\n  }\n  return value as number;\n}\n\nfunction inspectElement(\n  component: Component<any>,\n  requestedProperties: string[],\n  includeMissingProperties: boolean,\n): UiElementInspection {\n  const properties: Record<string, unknown> = {};\n  const missingProperties: string[] = [];\n  for (const property of requestedProperties) {\n    const inspected = readComputedProperty(component, property);\n    if (!inspected.found) {\n      missingProperties.push(property);\n      continue;\n    }\n    properties[property] = serializeValue(inspected.value);\n  }\n\n  const id = getElementId(component);\n  const text = collectText(component);\n  const clipped = component.isClipped?.value === true;\n  const disabled = readComputedProperty(component, 'disabled');\n  const displayed = component.displayed?.value !== false;\n  const semanticVisible = component.isVisible?.value !== false;\n\n  return {\n    id: typeof id === 'string' && id.length > 0 ? id : undefined,\n    classes: getClassNames(component),\n    componentType:\n      component.constructor.name || component.type || 'UIKitComponent',\n    uuid: component.uuid,\n    text: text.length > 0 ? text : undefined,\n    state: {\n      active: (component.activeList?.value?.length ?? 0) > 0,\n      clipped,\n      disabled: disabled.found && disabled.value === true,\n      displayed,\n      hovered: (component.hoveredList?.value?.length ?? 0) > 0,\n      visible:\n        isObjectHierarchyVisible(component) &&\n        semanticVisible &&\n        displayed &&\n        !clipped,\n    },\n    layout: {\n      relativeCenter: numberPair(component.relativeCenter?.value),\n      size: numberPair(component.size?.value),\n    },\n    properties,\n    ...(includeMissingProperties && missingProperties.length > 0\n      ? { missingProperties }\n      : {}),\n  };\n}\n\nfunction readComputedProperty(\n  component: Component<any>,\n  property: string,\n): { found: true; value: unknown } | { found: false } {\n  if (Object.prototype.hasOwnProperty.call(Object.prototype, property)) {\n    return { found: false };\n  }\n  const value = (\n    component.properties?.peek() as Record<string, unknown> | undefined\n  )?.[property];\n  if (value !== undefined) {\n    return { found: true, value };\n  }\n\n  return { found: false };\n}\n\nfunction collectText(component: Component<any>): string {\n  const values: string[] = [];\n  const seen = new Set<string>();\n  const stack: Object3D[] = [component];\n  let collectedLength = 0;\n  let traversedObjects = 0;\n\n  while (\n    stack.length > 0 &&\n    collectedLength < MAX_STRING_LENGTH &&\n    traversedObjects < MAX_TRAVERSED_OBJECTS\n  ) {\n    const object = stack.pop()!;\n    traversedObjects += 1;\n    if (object instanceof Component) {\n      const text = (\n        object.properties?.peek() as Record<string, unknown> | undefined\n      )?.text;\n      if (typeof text === 'string') {\n        const normalized = text.replace(/\\s+/gu, ' ').trim();\n        if (normalized.length > 0 && !seen.has(normalized)) {\n          seen.add(normalized);\n          values.push(normalized);\n          collectedLength += normalized.length + (values.length > 1 ? 1 : 0);\n        }\n      }\n    }\n\n    for (let index = object.children.length - 1; index >= 0; index -= 1) {\n      stack.push(object.children[index]);\n    }\n  }\n\n  return values.join(' ').slice(0, MAX_STRING_LENGTH);\n}\n\nfunction getElementId(component: Component<any>): string | undefined {\n  const id = (\n    component.properties?.peek() as Record<string, unknown> | undefined\n  )?.id;\n  return typeof id === 'string' && id.length > 0 ? id : undefined;\n}\n\nfunction isObjectHierarchyVisible(component: Component<any>): boolean {\n  // UIKit uses Object3D.visible internally to suppress renderless layout\n  // components. isVisible/displayed carry UIKit semantics; only inspect the\n  // document and ordinary Three.js ancestors here.\n  let object: Object3D | null = component.parent;\n  while (object != null) {\n    if (!(object instanceof Component) && object.visible === false) {\n      return false;\n    }\n    object = object.parent;\n  }\n  return true;\n}\n\nfunction getClassNames(component: Component<any>): string[] {\n  const list = (component.classList as unknown as { list?: unknown[] }).list;\n  return Array.isArray(list)\n    ? list.filter(\n        (entry): entry is string =>\n          typeof entry === 'string' && !entry.startsWith('__id__'),\n      )\n    : [];\n}\n\nfunction numberPair(value: unknown): [number, number] | null {\n  if (\n    !Array.isArray(value) ||\n    value.length < 2 ||\n    typeof value[0] !== 'number' ||\n    typeof value[1] !== 'number' ||\n    !Number.isFinite(value[0]) ||\n    !Number.isFinite(value[1])\n  ) {\n    return null;\n  }\n  return [value[0], value[1]];\n}\n\nfunction findEntityUIKitDocument(entity: Entity): UIKitDocument | null {\n  const hasPanelDocument = entity\n    .getComponents()\n    .some(\n      (component) =>\n        component === PanelDocument || component.id === PanelDocument.id,\n    );\n  if (hasPanelDocument) {\n    const componentDocument = entity.getValue(\n      PanelDocument,\n      'document',\n    ) as UIKitDocument | null;\n    if (\n      componentDocument instanceof UIKitDocument &&\n      !componentDocument.disposed\n    ) {\n      return componentDocument;\n    }\n  }\n\n  return findOwnedObject(entity.object3D, entity.index, (object) => {\n    if (object instanceof UIKitDocument) {\n      return object.disposed ? null : object;\n    }\n    if (object instanceof UIKitMLAsset) {\n      return object.document.disposed ? null : object.document;\n    }\n    return null;\n  });\n}\n\nfunction findUIKitMLAsset(\n  object: Object3D | null | undefined,\n  entityIndex: number,\n): UIKitMLAsset | null {\n  return findOwnedObject(object, entityIndex, (candidate) =>\n    candidate instanceof UIKitMLAsset ? candidate : null,\n  );\n}\n\nfunction findOwnedObject<T>(\n  root: Object3D | null | undefined,\n  entityIndex: number,\n  match: (object: Object3D) => T | null,\n): T | null {\n  if (!root) {\n    return null;\n  }\n  const stack = [root];\n  while (stack.length > 0) {\n    const object = stack.pop()!;\n    if (\n      object !== root &&\n      typeof object.entityIdx === 'number' &&\n      object.entityIdx !== entityIndex\n    ) {\n      continue;\n    }\n    const result = match(object);\n    if (result != null) {\n      return result;\n    }\n    for (let index = object.children.length - 1; index >= 0; index -= 1) {\n      stack.push(object.children[index]);\n    }\n  }\n  return null;\n}\n\nfunction serializeValue(\n  value: unknown,\n  depth = 0,\n  seen: WeakSet<object> = new WeakSet(),\n): unknown {\n  if (\n    value == null ||\n    typeof value === 'boolean' ||\n    typeof value === 'string'\n  ) {\n    return typeof value === 'string' && value.length > MAX_STRING_LENGTH\n      ? `${value.slice(0, 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package/dist/physics/physics-runtime.js.map

@@ -1 +1 @@
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+{"version":3,"file":"physics-runtime.js","sources":["../../src/physics/physics-runtime.ts"],"sourcesContent":["/**\n * Copyright (c) Meta Platforms, Inc. and affiliates.\n *\n * This source code is licensed under the MIT license found in the\n * LICENSE file in the root directory of this source tree.\n */\n\nimport HavokPhysics, {\n  type HavokPhysicsWithBindings,\n  type HP_BodyId,\n  type HP_ShapeId,\n  type HP_WorldId,\n  type MassProperties,\n  type MotionType,\n} from '@babylonjs/havok';\nimport {\n  getCapsuleAxisEndpoints,\n  PHYSICS_HEADER_BYTES,\n  PHYSICS_HEADER_WORDS,\n  PHYSICS_INPUT_RECORD_FLOATS,\n  PHYSICS_OUTPUT_RECORD_FLOATS,\n  PHYSICS_PROTOCOL_VERSION,\n  PhysicsCommandFlag,\n  PhysicsExchangeStatus,\n  PhysicsHeaderIndex,\n  PhysicsInputOffset,\n  PhysicsOutputOffset,\n  type PhysicsWorkerAddBodyMessage,\n  type PhysicsWorkerBodyState,\n  type PhysicsWorkerShapeDescriptor,\n} from './physics-worker-protocol.js';\nimport { reusableFloat32View } from './physics-worker-utils.js';\n\ninterface WorkerBody {\n  body: HP_BodyId;\n  shape: HP_ShapeId;\n  transformOffset: number;\n  state: PhysicsWorkerBodyState;\n}\n\ninterface PhysicsRuntimeState {\n  havok?: HavokPhysicsWithBindings;\n  havokWorld?: HP_WorldId;\n  heapFloatView?: Float32Array;\n  initializePromise?: Promise<void>;\n  bodies: Map<number, WorkerBody>;\n  destroyed: boolean;\n}\n\nasync function initialize(\n  state: PhysicsRuntimeState,\n  gravity: [number, number, number],\n): Promise<void> {\n  if (state.destroyed) {\n    throw new Error('Physics runtime has been destroyed');\n  }\n  if (!state.initializePromise) {\n    state.initializePromise = (async () => {\n      const engine = await HavokPhysics();\n      if (state.destroyed) {\n        throw new Error('Physics runtime was destroyed during initialization');\n      }\n      const world = engine.HP_World_Create()[1];\n      try {\n        engine.HP_World_SetGravity(world, gravity);\n      } catch (error) {\n        engine.HP_World_Release(world);\n        throw error;\n      }\n      state.havok = engine;\n      state.havokWorld = world;\n    })();\n  }\n  await state.initializePromise;\n}\n\nfunction requireHavok(\n  state: PhysicsRuntimeState,\n): [HavokPhysicsWithBindings, HP_WorldId] {\n  if (!state.havok || !state.havokWorld) {\n    throw new Error('Physics runtime received a message before initialization');\n  }\n  return [state.havok, state.havokWorld];\n}\n\nfunction getHeapFloatView(\n  state: PhysicsRuntimeState,\n  engine: HavokPhysicsWithBindings,\n): Float32Array {\n  state.heapFloatView = reusableFloat32View(\n    state.heapFloatView,\n    engine.HEAPU8.buffer,\n  );\n  return state.heapFloatView;\n}\n\nfunction copyFloat32ToHeap(\n  engine: HavokPhysicsWithBindings,\n  source: Float32Array,\n): number {\n  const offset = engine._malloc(source.byteLength);\n  new Float32Array(engine.HEAPU8.buffer, offset, source.length).set(source);\n  return offset;\n}\n\nfunction copyInt32ToHeap(\n  engine: HavokPhysicsWithBindings,\n  source: Uint32Array,\n): number {\n  const offset = engine._malloc(source.byteLength);\n  new Int32Array(engine.HEAPU8.buffer, offset, source.length).set(source);\n  return offset;\n}\n\nfunction configureShapeMaterial(\n  engine: HavokPhysicsWithBindings,\n  shape: HP_ShapeId,\n  descriptor: PhysicsWorkerShapeDescriptor,\n): HP_ShapeId {\n  engine.HP_Shape_SetDensity(shape, descriptor.density);\n  engine.HP_Shape_SetMaterial(shape, [\n    descriptor.friction,\n    descriptor.friction,\n    descriptor.restitution,\n    engine.MaterialCombine.MINIMUM,\n    engine.MaterialCombine.MAXIMUM,\n  ]);\n  return shape;\n}\n\nfunction createShape(\n  engine: HavokPhysicsWithBindings,\n  descriptor: PhysicsWorkerShapeDescriptor,\n): HP_ShapeId {\n  const dimensions = descriptor.dimensions;\n  let shape: HP_ShapeId | undefined;\n\n  try {\n    switch (descriptor.type) {\n      case 'Sphere':\n        shape = engine.HP_Shape_CreateSphere([0, 0, 0], dimensions[0])[1];\n        break;\n      case 'Box':\n        shape = engine.HP_Shape_CreateBox(\n          [0, 0, 0],\n          [0, 0, 0, 1],\n          dimensions,\n        )[1];\n        break;\n      case 'Cylinder':\n        shape = engine.HP_Shape_CreateCylinder(\n          [0, -dimensions[1] / 2, 0],\n          [0, dimensions[1] / 2, 0],\n          dimensions[0],\n        )[1];\n        break;\n      case 'Capsules': {\n        const endpoints = getCapsuleAxisEndpoints(dimensions[0], dimensions[1]);\n        if (!endpoints) {\n          throw new Error(\n            'Capsule dimensions require a positive radius and a total height greater than or equal to twice the radius',\n          );\n        }\n        shape = engine.HP_Shape_CreateCapsule(\n          endpoints[0],\n          endpoints[1],\n          dimensions[0],\n        )[1];\n        break;\n      }\n      case 'ConvexHull': {\n        if (!descriptor.vertices) {\n          throw new Error('Convex hull body is missing its vertex buffer');\n        }\n        const vertices = new Float32Array(descriptor.vertices);\n        const vertexOffset = copyFloat32ToHeap(engine, vertices);\n        try {\n          shape = engine.HP_Shape_CreateConvexHull(\n            vertexOffset,\n            vertices.length / 3,\n          )[1];\n        } finally {\n          engine._free(vertexOffset);\n        }\n        break;\n      }\n      case 'TriMesh': {\n        if (!descriptor.vertices || !descriptor.indices) {\n          throw new Error('Tri-mesh body is missing vertex or index data');\n        }\n        const vertices = new Float32Array(descriptor.vertices);\n        const indices = new Uint32Array(descriptor.indices);\n        const vertexOffset = copyFloat32ToHeap(engine, vertices);\n        const indexOffset = copyInt32ToHeap(engine, indices);\n        try {\n          shape = engine.HP_Shape_CreateMesh(\n            vertexOffset,\n            vertices.length / 3,\n            indexOffset,\n            indices.length / 3,\n          )[1];\n        } finally {\n          engine._free(vertexOffset);\n          engine._free(indexOffset);\n        }\n        break;\n      }\n    }\n\n    return configureShapeMaterial(engine, shape, descriptor);\n  } catch (error) {\n    if (shape) {\n      engine.HP_Shape_Release(shape);\n    }\n    throw error;\n  }\n}\n\nfunction motionTypeForState(\n  engine: HavokPhysicsWithBindings,\n  state: PhysicsWorkerBodyState,\n): MotionType {\n  switch (state) {\n    case 'STATIC':\n      return engine.MotionType.STATIC;\n    case 'KINEMATIC':\n      return engine.MotionType.KINEMATIC;\n    case 'DYNAMIC':\n    default:\n      return engine.MotionType.DYNAMIC;\n  }\n}\n\nfunction removeBody(state: PhysicsRuntimeState, handle: number): void {\n  const entry = state.bodies.get(handle);\n  if (!entry) {\n    return;\n  }\n  const [engine, world] = requireHavok(state);\n  engine.HP_World_RemoveBody(world, entry.body);\n  engine.HP_Body_Release(entry.body);\n  engine.HP_Shape_Release(entry.shape);\n  state.bodies.delete(handle);\n}\n\nfunction addBody(\n  state: PhysicsRuntimeState,\n  message: PhysicsWorkerAddBodyMessage,\n): [number, number, number] {\n  const [engine, world] = requireHavok(state);\n  removeBody(state, message.handle);\n\n  const shape = createShape(engine, message.shape);\n  let body: HP_BodyId | undefined;\n  let addedToWorld = false;\n  try {\n    body = engine.HP_Body_Create()[1];\n    engine.HP_Body_SetShape(body, shape);\n    engine.HP_Body_SetQTransform(body, [message.position, message.quaternion]);\n    engine.HP_Body_SetLinearDamping(body, message.linearDamping);\n    engine.HP_Body_SetAngularDamping(body, message.angularDamping);\n    engine.HP_Body_SetGravityFactor(body, message.gravityFactor);\n\n    const shapeMass = engine.HP_Shape_BuildMassProperties(shape);\n    const massProperties: MassProperties =\n      shapeMass[0] === engine.Result.RESULT_OK\n        ? shapeMass[1]\n        : [[0, 0, 0], 1, [1, 1, 1], [0, 0, 0, 1]];\n\n    if (message.centerOfMass.every((value) => value === Infinity)) {\n      message.centerOfMass = [...massProperties[0]];\n    } else {\n      massProperties[0] = [...message.centerOfMass];\n    }\n\n    engine.HP_Body_SetMassProperties(body, massProperties);\n    engine.HP_Body_SetMotionType(\n      body,\n      motionTypeForState(engine, message.state),\n    );\n    engine.HP_World_AddBody(world, body, false);\n    addedToWorld = true;\n\n    state.bodies.set(message.handle, {\n      body,\n      shape,\n      state: message.state,\n      transformOffset: engine.HP_Body_GetWorldTransformOffset(body)[1],\n    });\n  } catch (error) {\n    if (body) {\n      if (addedToWorld) {\n        engine.HP_World_RemoveBody(world, body);\n      }\n      engine.HP_Body_Release(body);\n    }\n    engine.HP_Shape_Release(shape);\n    throw error;\n  }\n\n  return message.centerOfMass;\n}\n\nfunction applyCommands(state: PhysicsRuntimeState, buffer: ArrayBuffer): void {\n  const [engine] = requireHavok(state);\n  const ints = new Int32Array(buffer);\n  const floats = new Float32Array(buffer);\n  const commandCount = ints[PhysicsHeaderIndex.CommandCount];\n\n  for (let index = 0; index < commandCount; index++) {\n    const base = PHYSICS_HEADER_WORDS + index * PHYSICS_INPUT_RECORD_FLOATS;\n    const handle = floats[base + PhysicsInputOffset.Handle];\n    const flags = floats[base + PhysicsInputOffset.Flags];\n    const entry = state.bodies.get(handle);\n    if (!entry) {\n      continue;\n    }\n\n    if (\n      flags &\n      (PhysicsCommandFlag.SetTransform | PhysicsCommandFlag.SetTargetTransform)\n    ) {\n      const position: [number, number, number] = [\n        floats[base + PhysicsInputOffset.PositionX],\n        floats[base + PhysicsInputOffset.PositionY],\n        floats[base + PhysicsInputOffset.PositionZ],\n      ];\n      const quaternion: [number, number, number, number] = [\n        floats[base + PhysicsInputOffset.QuaternionX],\n        floats[base + PhysicsInputOffset.QuaternionY],\n        floats[base + PhysicsInputOffset.QuaternionZ],\n        floats[base + PhysicsInputOffset.QuaternionW],\n      ];\n      if (flags & PhysicsCommandFlag.SetTransform) {\n        engine.HP_Body_SetQTransform(entry.body, [position, quaternion]);\n      }\n      if (flags & PhysicsCommandFlag.SetTargetTransform) {\n        engine.HP_Body_SetTargetQTransform(entry.body, [position, quaternion]);\n      }\n    }\n    if (flags & PhysicsCommandFlag.ResetLinearVelocity) {\n      engine.HP_Body_SetLinearVelocity(entry.body, [0, 0, 0]);\n    }\n    if (flags & PhysicsCommandFlag.ResetAngularVelocity) {\n      engine.HP_Body_SetAngularVelocity(entry.body, [0, 0, 0]);\n    }\n    if (flags & PhysicsCommandFlag.ApplyImpulse) {\n      engine.HP_Body_ApplyImpulse(\n        entry.body,\n        [\n          floats[base + PhysicsInputOffset.ImpulsePointX],\n          floats[base + PhysicsInputOffset.ImpulsePointY],\n          floats[base + PhysicsInputOffset.ImpulsePointZ],\n        ],\n        [\n          floats[base + PhysicsInputOffset.ImpulseX],\n          floats[base + PhysicsInputOffset.ImpulseY],\n          floats[base + PhysicsInputOffset.ImpulseZ],\n        ],\n      );\n    }\n    if (flags & PhysicsCommandFlag.SetLinearVelocity) {\n      engine.HP_Body_SetLinearVelocity(entry.body, [\n        floats[base + PhysicsInputOffset.LinearVelocityX],\n        floats[base + PhysicsInputOffset.LinearVelocityY],\n        floats[base + PhysicsInputOffset.LinearVelocityZ],\n      ]);\n    }\n    if (flags & PhysicsCommandFlag.SetAngularVelocity) {\n      engine.HP_Body_SetAngularVelocity(entry.body, [\n        floats[base + PhysicsInputOffset.AngularVelocityX],\n        floats[base + PhysicsInputOffset.AngularVelocityY],\n        floats[base + PhysicsInputOffset.AngularVelocityZ],\n      ]);\n    }\n    if (flags & PhysicsCommandFlag.SetGravityFactor) {\n      engine.HP_Body_SetGravityFactor(\n        entry.body,\n        floats[base + PhysicsInputOffset.GravityFactor],\n      );\n    }\n    if (flags & PhysicsCommandFlag.SetLinearDamping) {\n      engine.HP_Body_SetLinearDamping(\n        entry.body,\n        floats[base + PhysicsInputOffset.LinearDamping],\n      );\n    }\n    if (flags & PhysicsCommandFlag.SetAngularDamping) {\n      engine.HP_Body_SetAngularDamping(\n        entry.body,\n        floats[base + PhysicsInputOffset.AngularDamping],\n      );\n    }\n  }\n}\n\nfunction writeQuaternionFromMatrix(\n  heap: Float32Array,\n  matrixBase: number,\n  output: Float32Array,\n  outputBase: number,\n): void {\n  const m11 = heap[matrixBase];\n  const m12 = heap[matrixBase + 4];\n  const m13 = heap[matrixBase + 8];\n  const m21 = heap[matrixBase + 1];\n  const m22 = heap[matrixBase + 5];\n  const m23 = heap[matrixBase + 9];\n  const m31 = heap[matrixBase + 2];\n  const m32 = heap[matrixBase + 6];\n  const m33 = heap[matrixBase + 10];\n  const trace = m11 + m22 + m33;\n\n  let x: number;\n  let y: number;\n  let z: number;\n  let w: number;\n\n  if (trace > 0) {\n    const scale = 0.5 / Math.sqrt(trace + 1);\n    w = 0.25 / scale;\n    x = (m32 - m23) * scale;\n    y = (m13 - m31) * scale;\n    z = (m21 - m12) * scale;\n  } else if (m11 > m22 && m11 > m33) {\n    const scale = 2 * Math.sqrt(1 + m11 - m22 - m33);\n    w = (m32 - m23) / scale;\n    x = 0.25 * scale;\n    y = (m12 + m21) / scale;\n    z = (m13 + m31) / scale;\n  } else if (m22 > m33) {\n    const scale = 2 * Math.sqrt(1 + m22 - m11 - m33);\n    w = (m13 - m31) / scale;\n    x = (m12 + m21) / scale;\n    y = 0.25 * scale;\n    z = (m23 + m32) / scale;\n  } else {\n    const scale = 2 * Math.sqrt(1 + m33 - m11 - m22);\n    w = (m21 - m12) / scale;\n    x = (m13 + m31) / scale;\n    y = (m23 + m32) / scale;\n    z = 0.25 * scale;\n  }\n\n  output[outputBase + PhysicsOutputOffset.QuaternionX] = x;\n  output[outputBase + PhysicsOutputOffset.QuaternionY] = y;\n  output[outputBase + PhysicsOutputOffset.QuaternionZ] = z;\n  output[outputBase + PhysicsOutputOffset.QuaternionW] = w;\n}\n\nfunction writeResults(state: PhysicsRuntimeState, buffer: ArrayBuffer): void {\n  const [engine, world] = requireHavok(state);\n  const ints = new Int32Array(buffer);\n  const floats = new Float32Array(buffer);\n  const bodyBuffer = engine.HP_World_GetBodyBuffer(world)[1];\n  const maxResults = Math.floor(\n    (buffer.byteLength - PHYSICS_HEADER_BYTES) /\n      (PHYSICS_OUTPUT_RECORD_FLOATS * 4),\n  );\n  let resultCount = 0;\n\n  for (const [handle, entry] of state.bodies) {\n    if (entry.state === 'STATIC') {\n      continue;\n    }\n    if (resultCount === maxResults) {\n      ints[PhysicsHeaderIndex.Status] |= PhysicsExchangeStatus.ResultsTruncated;\n      break;\n    }\n\n    const base =\n      PHYSICS_HEADER_WORDS + resultCount * PHYSICS_OUTPUT_RECORD_FLOATS;\n    const matrixBase = (bodyBuffer + entry.transformOffset) >> 2;\n    const linearVelocity = engine.HP_Body_GetLinearVelocity(entry.body)[1];\n    const angularVelocity = engine.HP_Body_GetAngularVelocity(entry.body)[1];\n    const heap = getHeapFloatView(state, engine);\n\n    floats[base + PhysicsOutputOffset.Handle] = handle;\n    floats[base + PhysicsOutputOffset.PositionX] = heap[matrixBase + 12];\n    floats[base + PhysicsOutputOffset.PositionY] = heap[matrixBase + 13];\n    floats[base + PhysicsOutputOffset.PositionZ] = heap[matrixBase + 14];\n    writeQuaternionFromMatrix(heap, matrixBase, floats, base);\n    floats[base + PhysicsOutputOffset.LinearVelocityX] = linearVelocity[0];\n    floats[base + PhysicsOutputOffset.LinearVelocityY] = linearVelocity[1];\n    floats[base + PhysicsOutputOffset.LinearVelocityZ] = linearVelocity[2];\n    floats[base + PhysicsOutputOffset.AngularVelocityX] = angularVelocity[0];\n    floats[base + PhysicsOutputOffset.AngularVelocityY] = angularVelocity[1];\n    floats[base + PhysicsOutputOffset.AngularVelocityZ] = angularVelocity[2];\n    resultCount++;\n  }\n\n  ints[PhysicsHeaderIndex.ResultCount] = resultCount;\n}\n\nexport interface PhysicsRuntimeStepResult {\n  buffer: ArrayBuffer;\n  error?: string;\n}\n\n/** Shared Havok runtime used by both main-thread and worker transports. */\nexport class PhysicsRuntime {\n  private readonly state: PhysicsRuntimeState = {\n    bodies: new Map<number, WorkerBody>(),\n    destroyed: false,\n  };\n\n  initialize(gravity: [number, number, number]): Promise<void> {\n    return initialize(this.state, gravity);\n  }\n\n  setGravity(gravity: [number, number, number]): void {\n    const [engine, world] = requireHavok(this.state);\n    engine.HP_World_SetGravity(world, gravity);\n  }\n\n  addBody(message: PhysicsWorkerAddBodyMessage): [number, number, number] {\n    return addBody(this.state, message);\n  }\n\n  removeBody(handle: number): void {\n    removeBody(this.state, handle);\n  }\n\n  step(buffer: ArrayBuffer): PhysicsRuntimeStepResult {\n    const ints = new Int32Array(buffer);\n    try {\n      if (ints[PhysicsHeaderIndex.Version] !== PHYSICS_PROTOCOL_VERSION) {\n        throw new Error('Physics exchange buffer protocol version mismatch');\n      }\n      const [engine, world] = requireHavok(this.state);\n      applyCommands(this.state, buffer);\n      const floats = new Float32Array(buffer);\n      const delta = floats[PhysicsHeaderIndex.Delta];\n      const stepCount = Math.max(0, ints[PhysicsHeaderIndex.StepCount]);\n      for (let index = 0; index < stepCount; index++) {\n        engine.HP_World_SetIdealStepTime(world, delta);\n        engine.HP_World_Step(world, delta);\n      }\n      writeResults(this.state, buffer);\n      return { buffer };\n    } catch (error) {\n      ints[PhysicsHeaderIndex.Status] |= PhysicsExchangeStatus.StepFailed;\n      ints[PhysicsHeaderIndex.ResultCount] = 0;\n      return {\n        buffer,\n        error: error instanceof Error ? error.message : String(error),\n      };\n    }\n  }\n\n  destroy(): void {\n    if (this.state.destroyed) {\n      return;\n    }\n    this.state.destroyed = true;\n    for (const handle of [...this.state.bodies.keys()]) {\n      removeBody(this.state, handle);\n    }\n    if (this.state.havok && this.state.havokWorld) {\n      this.state.havok.HP_World_Release(this.state.havokWorld);\n    }\n    this.state.havok = undefined;\n    this.state.havokWorld = undefined;\n    this.state.heapFloatView = undefined;\n    this.state.initializePromise = undefined;\n  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package/dist/physics/physics-system.js.map

@@ -1 +1 @@
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+{"version":3,"file":"physics-system.js","sources":["../../src/physics/physics-system.ts"],"sourcesContent":["/**\n * Copyright (c) Meta Platforms, Inc. and affiliates.\n *\n * This source code is licensed under the MIT license found in the\n * LICENSE file in the root directory of this source tree.\n */\n\nimport { effect } from '@preact/signals-core';\nimport { createSystem, Entity, Grabbed, ne, Types } from '.././index.js';\nimport { Mesh, Object3D, Quaternion, Vector3 } from '../runtime/three.js';\nimport {\n  createPhysicsTransport,\n  type PhysicsTransport,\n} from './physics-transport.js';\nimport {\n  getCapsuleAxisEndpoints,\n  PHYSICS_HEADER_WORDS,\n  PHYSICS_INPUT_RECORD_FLOATS,\n  PHYSICS_OUTPUT_RECORD_FLOATS,\n  PHYSICS_PROTOCOL_VERSION,\n  PhysicsCommandFlag,\n  PhysicsExchangeStatus,\n  PhysicsHeaderIndex,\n  PhysicsInputOffset,\n  PhysicsOutputOffset,\n  physicsExchangeByteLength,\n  type PhysicsWorkerAddBodyMessage,\n  type PhysicsWorkerBodyState,\n  type PhysicsWorkerOutputMessage,\n  type PhysicsWorkerShapeDescriptor,\n} from './physics-worker-protocol.js';\nimport {\n  DEFAULT_ANGULAR_DAMPING,\n  DEFAULT_GRAVITY_FACTOR,\n  DEFAULT_LINEAR_DAMPING,\n  PhysicsBody,\n  PhysicsState,\n} from './physicsBody.js';\nimport { PhysicsManipulation } from './physicsManipulation.js';\nimport { PhysicsShape, PhysicsShapeType } from './physicsShape.js';\nimport {\n  detectShapeFromGeometry,\n  generateMergedGeometry,\n  sequentialIndices,\n} from './utils.js';\n\nexport { getCapsuleAxisEndpoints } from './physics-worker-protocol.js';\n\ntype Vector3Input = Vector3 | readonly [number, number, number];\ntype QuaternionInput = Quaternion | readonly [number, number, number, number];\n\n/** Pose passed to {@link PhysicsSystem.setBodyTransform}. */\nexport interface PhysicsBodyTransformPose {\n  position: Vector3Input;\n  quaternion: QuaternionInput;\n}\n\n/** Options for {@link PhysicsSystem.setBodyTransform}. */\nexport interface PhysicsBodyTransformOptions {\n  /**\n   * Clear linear and angular velocity after teleporting the body.\n   *\n   * @default true\n   */\n  resetVelocity?: boolean;\n}\n\ninterface PendingBodyCommand {\n  handle: number;\n  flags: number;\n  position: [number, number, number];\n  quaternion: [number, number, number, number];\n  impulsePoint: [number, number, number];\n  impulse: [number, number, number];\n  linearVelocity: [number, number, number];\n  angularVelocity: [number, number, number];\n  gravityFactor: number;\n  linearDamping: number;\n  angularDamping: number;\n}\n\ninterface SerializedShape {\n  descriptor: PhysicsWorkerShapeDescriptor;\n  transfer: ArrayBuffer[];\n}\n\ninterface BodyPoseSnapshot {\n  previousPosition: Vector3;\n  currentPosition: Vector3;\n  previousQuaternion: Quaternion;\n  currentQuaternion: Quaternion;\n}\n\ninterface CompletedExchange {\n  buffer: ArrayBuffer;\n  ints: Int32Array;\n  floats: Float32Array;\n  sequence: number;\n}\n\nconst ZERO_VECTOR = [0, 0, 0] as const;\nconst EXCHANGE_BUFFER_COUNT = 2;\nconst INITIAL_RESULT_CAPACITY = 64;\nconst DEFAULT_UPDATE_FREQUENCY = 60;\nconst MAX_UPDATE_FREQUENCY = 240;\nconst MAX_ACCUMULATED_STEPS = 4;\n\nfunction vector3ToArray(value: Vector3Input): [number, number, number] {\n  return 'x' in value\n    ? [value.x, value.y, value.z]\n    : [value[0], value[1], value[2]];\n}\n\nfunction quaternionToArray(\n  value: QuaternionInput,\n): [number, number, number, number] {\n  return 'w' in value\n    ? [value.x, value.y, value.z, value.w]\n    : [value[0], value[1], value[2], value[3]];\n}\n\nfunction createPendingCommand(handle: number): PendingBodyCommand {\n  return {\n    handle,\n    flags: 0,\n    position: [0, 0, 0],\n    quaternion: [0, 0, 0, 1],\n    impulsePoint: [0, 0, 0],\n    impulse: [0, 0, 0],\n    linearVelocity: [0, 0, 0],\n    angularVelocity: [0, 0, 0],\n    gravityFactor: DEFAULT_GRAVITY_FACTOR,\n    linearDamping: DEFAULT_LINEAR_DAMPING,\n    angularDamping: DEFAULT_ANGULAR_DAMPING,\n  };\n}\n\nfunction isZeroVector(value: ArrayLike<number>): boolean {\n  return value[0] === 0 && value[1] === 0 && value[2] === 0;\n}\n\n/**\n * Manages a Havok simulation on either a dedicated worker or the main thread.\n *\n * Per-frame commands and poses travel through a pair of transferable\n * ArrayBuffers.\n * Both execution modes use the same binary protocol and shared Havok runtime.\n * Worker mode alternates ownership of transferable ArrayBuffers, avoiding both\n * structured-clone copies and SharedArrayBuffer's cross-origin-isolation\n * requirement. Shape creation/removal uses infrequent control messages.\n *\n * @remarks\n * - Supports Sphere, Box, Cylinder, Capsule, ConvexHull, TriMesh, and Auto shapes.\n * - Synchronizes dynamic body poses and velocities back to ECS entities.\n * - Sends grab targets, impulses, velocity edits, damping, and gravity changes through one transport contract.\n * - Automatically releases bodies and shapes when entities are removed.\n *\n * @category Physics\n */\nexport class PhysicsSystem extends createSystem(\n  {\n    physicsEntities: {\n      required: [PhysicsBody, PhysicsShape],\n    },\n    manipluatedEntities: {\n      required: [PhysicsBody, PhysicsManipulation],\n      where: [ne(PhysicsBody, '_engineBody', 0)],\n    },\n    gravityOverrides: {\n      required: [PhysicsBody, PhysicsShape],\n      where: [ne(PhysicsBody, 'gravityFactor', DEFAULT_GRAVITY_FACTOR)],\n    },\n    linearDampingOverrides: {\n      required: [PhysicsBody, PhysicsShape],\n      where: [ne(PhysicsBody, 'linearDamping', DEFAULT_LINEAR_DAMPING)],\n    },\n    angularDampingOverrides: {\n      required: [PhysicsBody, PhysicsShape],\n      where: [ne(PhysicsBody, 'angularDamping', DEFAULT_ANGULAR_DAMPING)],\n    },\n  },\n  {\n    gravity: { type: Types.Vec3, default: [0, -9.81, 0] },\n    useWorker: { type: Types.Boolean, default: true },\n    updateFrequency: { type: Types.Float32, default: DEFAULT_UPDATE_FREQUENCY },\n    interpolation: { type: Types.Boolean, default: true },\n  },\n) {\n  private transport?: PhysicsTransport;\n  private transportReady = false;\n  private nextBodyHandle = 1;\n  private nextSequence = 1;\n  private bodyEntities = new Map<number, Entity>();\n  private bodySnapshots = new Map<number, BodyPoseSnapshot>();\n  private bodyResultSequenceFloors = new Map<number, number>();\n  private failedBodyEntities = new WeakSet<Entity>();\n  private pendingCommands = new Map<number, PendingBodyCommand>();\n  private commandPool: PendingBodyCommand[] = [];\n  private freeExchangeBuffers: ArrayBuffer[] = [];\n  private completedExchanges: CompletedExchange[] = [];\n\n  private inFlightExchangeCount = 0;\n  private stepAccumulator = 0;\n  private pendingDebugStepDelta?: number;\n  private debugFlushWaiters = new Set<() => void>();\n\n  init(): void {\n    const initialByteLength = physicsExchangeByteLength(\n      0,\n      INITIAL_RESULT_CAPACITY,\n    );\n    for (let index = 0; index < EXCHANGE_BUFFER_COUNT; index++) {\n      this.freeExchangeBuffers.push(new ArrayBuffer(initialByteLength));\n    }\n\n    try {\n      const transport = createPhysicsTransport(\n        this.config.useWorker.value as boolean,\n      );\n      transport.onmessage = (event: MessageEvent<PhysicsWorkerOutputMessage>) =>\n        this.handleTransportMessage(event.data);\n      transport.onerror = (event) => {\n        this.handleTransportFailure(\n          `Physics transport error: ${event.message}`,\n        );\n      };\n      transport.onmessageerror = () => {\n        this.handleTransportFailure(\n          'Physics transport message could not be decoded',\n        );\n      };\n      this.transport = transport;\n      transport.postMessage({\n        type: 'init',\n        gravity: [...this.config.gravity.value],\n      });\n      this.cleanupFuncs.push(\n        effect(() => {\n          const gravity = this.config.gravity.value;\n          this.transport?.postMessage({\n            type: 'set-gravity',\n            gravity: [gravity[0], gravity[1], gravity[2]],\n          });\n        }),\n      );\n    } catch (error) {\n      this.transport?.terminate();\n      this.transport = undefined;\n      console.error(\n        this.config.useWorker.value\n          ? 'Failed to start physics worker. Set features.physics.useWorker to false to run physics on the main thread:'\n          : 'Failed to start main-thread physics:',\n        error,\n      );\n    }\n\n    this.cleanupFuncs.push(\n      this.queries.physicsEntities.subscribe('disqualify', (entity) => {\n        this.removeBody(entity);\n      }),\n    );\n    this.subscribeReactiveOverrides();\n\n    this.cleanupFuncs.push(() => {\n      this.transport?.terminate();\n      this.transport = undefined;\n      this.transportReady = false;\n      this.bodyEntities.clear();\n      this.bodySnapshots.clear();\n      this.bodyResultSequenceFloors.clear();\n      this.failedBodyEntities = new WeakSet<Entity>();\n      this.pendingCommands.clear();\n      this.freeExchangeBuffers.length = 0;\n      this.completedExchanges.length = 0;\n      this.stepAccumulator = 0;\n      this.pendingDebugStepDelta = undefined;\n      this.resolveDebugFlushWaiters(true);\n    });\n  }\n\n  /**\n   * Teleport an existing physics body and mirror the pose immediately on its\n   * Object3D. The runtime consumes the command on the next available exchange.\n   */\n  setBodyTransform(\n    entity: Entity,\n    pose: PhysicsBodyTransformPose,\n    options: PhysicsBodyTransformOptions = {},\n  ): void {\n    if (!entity.hasComponent(PhysicsBody)) {\n      return;\n    }\n\n    const handle = entity.getValue(PhysicsBody, '_engineBody');\n    if (!handle) {\n      return;\n    }\n\n    const position = vector3ToArray(pose.position);\n    const quaternion = quaternionToArray(pose.quaternion);\n    const command = this.getPendingCommand(handle);\n    command.flags |= PhysicsCommandFlag.SetTransform;\n    command.position = position;\n    command.quaternion = quaternion;\n    if (this.bodySnapshots.has(handle)) {\n      this.bodyResultSequenceFloors.set(handle, this.nextSequence);\n    }\n\n    if (entity.object3D) {\n      entity.object3D.position.set(position[0], position[1], position[2]);\n      entity.object3D.quaternion.set(\n        quaternion[0],\n        quaternion[1],\n        quaternion[2],\n        quaternion[3],\n      );\n      entity.object3D.updateMatrixWorld(true);\n      this.syncSnapshotToObject(handle, entity.object3D);\n    }\n\n    if (options.resetVelocity === false) {\n      return;\n    }\n\n    command.flags |=\n      PhysicsCommandFlag.ResetLinearVelocity |\n      PhysicsCommandFlag.ResetAngularVelocity;\n    entity.getVectorView(PhysicsBody, '_linearVelocity').set(ZERO_VECTOR);\n    entity.getVectorView(PhysicsBody, '_angularVelocity').set(ZERO_VECTOR);\n  }\n\n  update(delta: number): void {\n    this.applyCompletedExchange();\n\n    if (!this.transport) {\n      return;\n    }\n\n    this.queries.physicsEntities.entities.forEach((entity) => {\n      this.ensureBody(entity);\n      const handle = entity.getValue(PhysicsBody, '_engineBody');\n      if (\n        handle &&\n        entity.object3D &&\n        Grabbed.bitmask &&\n        entity.hasComponent(Grabbed)\n      ) {\n        const command = this.getPendingCommand(handle);\n        command.flags |= PhysicsCommandFlag.SetTargetTransform;\n        command.position[0] = entity.object3D.position.x;\n        command.position[1] = entity.object3D.position.y;\n        command.position[2] = entity.object3D.position.z;\n        command.quaternion[0] = entity.object3D.quaternion.x;\n        command.quaternion[1] = entity.object3D.quaternion.y;\n        command.quaternion[2] = entity.object3D.quaternion.z;\n        command.quaternion[3] = entity.object3D.quaternion.w;\n        this.syncSnapshotToObject(handle, entity.object3D);\n      }\n    });\n\n    this.syncReactiveOverrides();\n    this.queueManipulations();\n\n    if (this.pendingDebugStepDelta !== undefined) {\n      this.stepAccumulator = 0;\n      this.trySendPendingDebugStep();\n      this.renderInterpolatedTransforms(1);\n      return;\n    }\n\n    const stepInterval = this.getStepInterval();\n    this.stepAccumulator = Math.min(\n      this.stepAccumulator + Math.max(0, delta),\n      stepInterval * MAX_ACCUMULATED_STEPS,\n    );\n\n    if (this.transportReady) {\n      const stepCount = Math.min(\n        Math.floor(this.stepAccumulator / stepInterval + 1e-9),\n        MAX_ACCUMULATED_STEPS,\n      );\n      if (stepCount > 0 && this.sendExchange(stepInterval, stepCount)) {\n        this.stepAccumulator = Math.max(\n          0,\n          this.stepAccumulator - stepInterval * stepCount,\n        );\n      }\n    }\n\n    const interpolationAlpha = this.config.interpolation.value\n      ? Math.min(this.stepAccumulator / stepInterval, 1)\n      : 1;\n    this.renderInterpolatedTransforms(interpolationAlpha);\n  }\n\n  /** Prepare one exact-delta physics tick for an ECS debugger step. */\n  prepareDebugFrame(delta: number): void {\n    this.pendingDebugStepDelta =\n      Number.isFinite(delta) && delta > 0 ? delta : this.getStepInterval();\n    this.stepAccumulator = 0;\n  }\n\n  /**\n   * Wait until all submitted physics work is reflected in ECS transforms.\n   * Used by debugger pause/step so worker and inline execution expose the same\n   * settled state at command boundaries.\n   */\n  async flushDebugFrame(): Promise<void> {\n    this.applyCompletedExchange();\n    this.trySendPendingDebugStep();\n    await this.waitForDebugWork();\n    this.applyCompletedExchange();\n\n    // Pausing between fixed ticks must commit queued commands without moving\n    // simulation time; a zero-step exchange preserves the old inline behavior.\n    if (\n      this.pendingDebugStepDelta === undefined &&\n      this.pendingCommands.size > 0 &&\n      this.transportReady &&\n      this.sendExchange(0, 0)\n    ) {\n      await this.waitForDebugWork();\n      this.applyCompletedExchange();\n    }\n\n    this.renderInterpolatedTransforms(1);\n    for (const snapshot of this.bodySnapshots.values()) {\n      snapshot.previousPosition.copy(snapshot.currentPosition);\n      snapshot.previousQuaternion.copy(snapshot.currentQuaternion);\n    }\n  }\n\n  private handleTransportMessage(message: PhysicsWorkerOutputMessage): void {\n    switch (message.type) {\n      case 'ready':\n        this.transportReady = true;\n        this.trySendPendingDebugStep();\n        break;\n      case 'body-created': {\n        const entity = this.bodyEntities.get(message.handle);\n        if (entity?.hasComponent(PhysicsBody)) {\n          entity\n            .getVectorView(PhysicsBody, 'centerOfMass')\n            .set(message.centerOfMass);\n        }\n        break;\n      }\n      case 'step-result':\n        this.inFlightExchangeCount = Math.max(\n          0,\n          this.inFlightExchangeCount - 1,\n        );\n        const ints = new Int32Array(message.buffer);\n        this.completedExchanges.push({\n          buffer: message.buffer,\n          ints,\n          floats: new Float32Array(message.buffer),\n          sequence: ints[PhysicsHeaderIndex.Sequence],\n        });\n        if (this.pendingDebugStepDelta !== undefined) {\n          this.applyCompletedExchange();\n          this.trySendPendingDebugStep();\n        }\n        if (this.inFlightExchangeCount === 0) {\n          this.resolveDebugFlushWaiters();\n        }\n        break;\n      case 'error':\n        if (message.handle !== undefined) {\n          console.error(`Physics runtime: ${message.message}`);\n          const entity = this.bodyEntities.get(message.handle);\n          if (entity) {\n            this.failedBodyEntities.add(entity);\n            this.setEngineHandles(entity, 0);\n          }\n          this.bodyEntities.delete(message.handle);\n          this.bodySnapshots.delete(message.handle);\n          this.bodyResultSequenceFloors.delete(message.handle);\n          this.discardPendingCommand(message.handle);\n        } else {\n          this.handleTransportFailure(`Physics runtime: ${message.message}`);\n        }\n        break;\n    }\n  }\n\n  private handleTransportFailure(message: string): void {\n    console.error(\n      this.config.useWorker.value\n        ? `${message}. Set features.physics.useWorker to false to run physics on the main thread.`\n        : message,\n    );\n    this.transportReady = false;\n    this.transport?.terminate();\n    this.transport = undefined;\n    this.inFlightExchangeCount = 0;\n    this.pendingDebugStepDelta = undefined;\n    this.resolveDebugFlushWaiters();\n  }\n\n  private async waitForDebugWork(): Promise<void> {\n    if (\n      this.pendingDebugStepDelta === undefined &&\n      this.inFlightExchangeCount === 0\n    ) {\n      return;\n    }\n    await new Promise<void>((resolve) => {\n      this.debugFlushWaiters.add(resolve);\n    });\n  }\n\n  private resolveDebugFlushWaiters(force = false): void {\n    if (\n      !force &&\n      (this.pendingDebugStepDelta !== undefined ||\n        this.inFlightExchangeCount > 0)\n    ) {\n      return;\n    }\n    for (const resolve of this.debugFlushWaiters) {\n      resolve();\n    }\n    this.debugFlushWaiters.clear();\n  }\n\n  private applyCompletedExchange(): void {\n    if (this.completedExchanges.length === 0) {\n      return;\n    }\n\n    this.completedExchanges.sort(\n      (left, right) => left.sequence - right.sequence,\n    );\n    for (const exchange of this.completedExchanges) {\n      this.applyExchangeBuffer(exchange);\n      this.freeExchangeBuffers.push(exchange.buffer);\n    }\n    this.completedExchanges.length = 0;\n  }\n\n  private applyExchangeBuffer({ ints, floats }: CompletedExchange): void {\n    const status = ints[PhysicsHeaderIndex.Status];\n    if (status & PhysicsExchangeStatus.ResultsTruncated) {\n      console.warn('Physics result buffer was unexpectedly truncated');\n    }\n    const resultCount = ints[PhysicsHeaderIndex.ResultCount];\n    const sequence = ints[PhysicsHeaderIndex.Sequence];\n    const stepCount = Math.max(1, ints[PhysicsHeaderIndex.StepCount]);\n\n    for (let index = 0; index < resultCount; index++) {\n      const base = PHYSICS_HEADER_WORDS + index * PHYSICS_OUTPUT_RECORD_FLOATS;\n      const handle = floats[base + PhysicsOutputOffset.Handle];\n      const entity = this.bodyEntities.get(handle);\n      if (!entity?.object3D || !entity.hasComponent(PhysicsBody)) {\n        continue;\n      }\n      const sequenceFloor = this.bodyResultSequenceFloors.get(handle);\n      if (sequenceFloor !== undefined) {\n        if (sequence < sequenceFloor) {\n          continue;\n        }\n        this.bodyResultSequenceFloors.delete(handle);\n      }\n\n      const linearVelocity = entity.getVectorView(\n        PhysicsBody,\n        '_linearVelocity',\n      );\n      linearVelocity[0] = floats[base + PhysicsOutputOffset.LinearVelocityX];\n      linearVelocity[1] = floats[base + PhysicsOutputOffset.LinearVelocityY];\n      linearVelocity[2] = floats[base + PhysicsOutputOffset.LinearVelocityZ];\n      const angularVelocity = entity.getVectorView(\n        PhysicsBody,\n        '_angularVelocity',\n      );\n      angularVelocity[0] = floats[base + PhysicsOutputOffset.AngularVelocityX];\n      angularVelocity[1] = floats[base + PhysicsOutputOffset.AngularVelocityY];\n      angularVelocity[2] = floats[base + PhysicsOutputOffset.AngularVelocityZ];\n\n      if (Grabbed.bitmask && entity.hasComponent(Grabbed)) {\n        continue;\n      }\n\n      const snapshot = this.bodySnapshots.get(handle);\n      if (!snapshot) {\n        continue;\n      }\n      if (stepCount === 1) {\n        snapshot.previousPosition.copy(snapshot.currentPosition);\n        snapshot.previousQuaternion.copy(snapshot.currentQuaternion);\n      }\n      snapshot.currentPosition.set(\n        floats[base + PhysicsOutputOffset.PositionX],\n        floats[base + PhysicsOutputOffset.PositionY],\n        floats[base + PhysicsOutputOffset.PositionZ],\n      );\n      snapshot.currentQuaternion.set(\n        floats[base + PhysicsOutputOffset.QuaternionX],\n        floats[base + PhysicsOutputOffset.QuaternionY],\n        floats[base + PhysicsOutputOffset.QuaternionZ],\n        floats[base + PhysicsOutputOffset.QuaternionW],\n      );\n      if (stepCount > 1) {\n        snapshot.previousPosition.copy(snapshot.currentPosition);\n        snapshot.previousQuaternion.copy(snapshot.currentQuaternion);\n      }\n    }\n  }\n\n  private renderInterpolatedTransforms(alpha: number): void {\n    for (const [handle, snapshot] of this.bodySnapshots) {\n      const entity = this.bodyEntities.get(handle);\n      if (\n        !entity?.object3D ||\n        (Grabbed.bitmask && entity.hasComponent(Grabbed))\n      ) {\n        continue;\n      }\n      entity.object3D.position.lerpVectors(\n        snapshot.previousPosition,\n        snapshot.currentPosition,\n        alpha,\n      );\n      entity.object3D.quaternion.slerpQuaternions(\n        snapshot.previousQuaternion,\n        snapshot.currentQuaternion,\n        alpha,\n      );\n    }\n  }\n\n  private syncSnapshotToObject(handle: number, object3D: Object3D): void {\n    const snapshot = this.bodySnapshots.get(handle);\n    if (!snapshot) {\n      return;\n    }\n    snapshot.previousPosition.copy(object3D.position);\n    snapshot.currentPosition.copy(object3D.position);\n    snapshot.previousQuaternion.copy(object3D.quaternion);\n    snapshot.currentQuaternion.copy(object3D.quaternion);\n  }\n\n  private getStepInterval(): number {\n    const configuredFrequency = this.config.updateFrequency.value;\n    const frequency =\n      Number.isFinite(configuredFrequency) && configuredFrequency > 0\n        ? Math.min(configuredFrequency, MAX_UPDATE_FREQUENCY)\n        : DEFAULT_UPDATE_FREQUENCY;\n    return 1 / frequency;\n  }\n\n  private sendExchange(delta: number, stepCount = 1): boolean {\n    const transport = this.transport;\n    const buffer = this.freeExchangeBuffers.pop();\n    if (!transport || !buffer) {\n      return false;\n    }\n\n    const resultCapacity = this.bodySnapshots.size;\n\n    const requiredByteLength = physicsExchangeByteLength(\n      this.pendingCommands.size,\n      resultCapacity,\n    );\n    const exchangeBuffer =\n      buffer.byteLength >= requiredByteLength\n        ? buffer\n        : new ArrayBuffer(requiredByteLength);\n    const ints = new Int32Array(exchangeBuffer);\n    const floats = new Float32Array(exchangeBuffer);\n    ints.fill(0, 0, PHYSICS_HEADER_WORDS);\n    ints[PhysicsHeaderIndex.Version] = PHYSICS_PROTOCOL_VERSION;\n    const sequence = this.nextSequence++;\n    ints[PhysicsHeaderIndex.Sequence] = sequence;\n    ints[PhysicsHeaderIndex.CommandCount] = this.pendingCommands.size;\n    ints[PhysicsHeaderIndex.StepCount] = stepCount;\n    floats[PhysicsHeaderIndex.Delta] = delta;\n\n    let commandIndex = 0;\n    for (const command of this.pendingCommands.values()) {\n      this.writeCommand(floats, commandIndex++, command);\n      if (command.flags & PhysicsCommandFlag.SetTransform) {\n        this.bodyResultSequenceFloors.set(command.handle, sequence);\n      }\n    }\n\n    try {\n      transport.postMessage({ type: 'step', buffer: exchangeBuffer }, [\n        exchangeBuffer,\n      ]);\n      this.inFlightExchangeCount++;\n      this.releasePendingCommands();\n      return true;\n    } catch (error) {\n      this.freeExchangeBuffers.push(exchangeBuffer);\n      console.error('Failed to post physics exchange buffer:', error);\n      return false;\n    }\n  }\n\n  private trySendPendingDebugStep(): void {\n    if (this.pendingDebugStepDelta === undefined) {\n      return;\n    }\n    if (!this.transport) {\n      this.pendingDebugStepDelta = undefined;\n      this.resolveDebugFlushWaiters();\n      return;\n    }\n    if (!this.transportReady) {\n      return;\n    }\n    if (this.sendExchange(this.pendingDebugStepDelta, 1)) {\n      this.pendingDebugStepDelta = undefined;\n    }\n  }\n\n  private writeCommand(\n    output: Float32Array,\n    index: number,\n    command: PendingBodyCommand,\n  ): void {\n    const base = PHYSICS_HEADER_WORDS + index * PHYSICS_INPUT_RECORD_FLOATS;\n    output[base + PhysicsInputOffset.Handle] = command.handle;\n    output[base + PhysicsInputOffset.Flags] = command.flags;\n    output[base + PhysicsInputOffset.PositionX] = command.position[0];\n    output[base + PhysicsInputOffset.PositionY] = command.position[1];\n    output[base + PhysicsInputOffset.PositionZ] = command.position[2];\n    output[base + PhysicsInputOffset.QuaternionX] = command.quaternion[0];\n    output[base + PhysicsInputOffset.QuaternionY] = command.quaternion[1];\n    output[base + PhysicsInputOffset.QuaternionZ] = command.quaternion[2];\n    output[base + PhysicsInputOffset.QuaternionW] = command.quaternion[3];\n    output[base + PhysicsInputOffset.ImpulsePointX] = command.impulsePoint[0];\n    output[base + PhysicsInputOffset.ImpulsePointY] = command.impulsePoint[1];\n    output[base + PhysicsInputOffset.ImpulsePointZ] = command.impulsePoint[2];\n    output[base + PhysicsInputOffset.ImpulseX] = command.impulse[0];\n    output[base + PhysicsInputOffset.ImpulseY] = command.impulse[1];\n    output[base + PhysicsInputOffset.ImpulseZ] = command.impulse[2];\n    output[base + PhysicsInputOffset.LinearVelocityX] =\n      command.linearVelocity[0];\n    output[base + PhysicsInputOffset.LinearVelocityY] =\n      command.linearVelocity[1];\n    output[base + PhysicsInputOffset.LinearVelocityZ] =\n      command.linearVelocity[2];\n    output[base + PhysicsInputOffset.AngularVelocityX] =\n      command.angularVelocity[0];\n    output[base + PhysicsInputOffset.AngularVelocityY] =\n      command.angularVelocity[1];\n    output[base + PhysicsInputOffset.AngularVelocityZ] =\n      command.angularVelocity[2];\n    output[base + PhysicsInputOffset.GravityFactor] = command.gravityFactor;\n    output[base + PhysicsInputOffset.LinearDamping] = command.linearDamping;\n    output[base + PhysicsInputOffset.AngularDamping] = command.angularDamping;\n  }\n\n  private getPendingCommand(handle: number): PendingBodyCommand {\n    let command = this.pendingCommands.get(handle);\n    if (!command) {\n      command = this.commandPool.pop() ?? createPendingCommand(handle);\n      command.handle = handle;\n      command.flags = 0;\n      command.impulse[0] = 0;\n      command.impulse[1] = 0;\n      command.impulse[2] = 0;\n      this.pendingCommands.set(handle, command);\n    }\n    return command;\n  }\n\n  private releasePendingCommands(): void {\n    for (const command of this.pendingCommands.values()) {\n      command.flags = 0;\n      this.commandPool.push(command);\n    }\n    this.pendingCommands.clear();\n  }\n\n  private discardPendingCommand(handle: number): void {\n    const command = this.pendingCommands.get(handle);\n    if (command) {\n      command.flags = 0;\n      this.commandPool.push(command);\n      this.pendingCommands.delete(handle);\n    }\n  }\n\n  private ensureBody(entity: Entity): void {\n    if (!this.transport || !entity.object3D) {\n      return;\n    }\n    if (this.failedBodyEntities.has(entity)) {\n      return;\n    }\n    if (entity.getValue(PhysicsBody, '_engineBody')) {\n      return;\n    }\n\n    const serialized = this.serializeShape(entity, entity.object3D);\n    if (!serialized) {\n      return;\n    }\n\n    const handle = this.nextBodyHandle++;\n    const linearDamping =\n      entity.getValue(PhysicsBody, 'linearDamping') ?? DEFAULT_LINEAR_DAMPING;\n    const angularDamping =\n      entity.getValue(PhysicsBody, 'angularDamping') ?? DEFAULT_ANGULAR_DAMPING;\n    const gravityFactor =\n      entity.getValue(PhysicsBody, 'gravityFactor') ?? DEFAULT_GRAVITY_FACTOR;\n    const centerOfMass = entity.getVectorView(PhysicsBody, 'centerOfMass');\n    const message: PhysicsWorkerAddBodyMessage = {\n      type: 'add-body',\n      handle,\n      shape: serialized.descriptor,\n      state: entity.getValue(PhysicsBody, 'state') as PhysicsWorkerBodyState,\n      position: [\n        entity.object3D.position.x,\n        entity.object3D.position.y,\n        entity.object3D.position.z,\n      ],\n      quaternion: [\n        entity.object3D.quaternion.x,\n        entity.object3D.quaternion.y,\n        entity.object3D.quaternion.z,\n        entity.object3D.quaternion.w,\n      ],\n      linearDamping,\n      angularDamping,\n      gravityFactor,\n      centerOfMass: [centerOfMass[0], centerOfMass[1], centerOfMass[2]],\n    };\n\n    this.setEngineHandles(entity, handle);\n    PhysicsBody.data._engineGravityFactor[entity.index] = gravityFactor;\n    PhysicsBody.data._engineLinearDamping[entity.index] = linearDamping;\n    PhysicsBody.data._engineAngularDamping[entity.index] = angularDamping;\n    this.bodyEntities.set(handle, entity);\n    if (message.state !== PhysicsState.Static) {\n      this.bodySnapshots.set(handle, {\n        previousPosition: entity.object3D.position.clone(),\n        currentPosition: entity.object3D.position.clone(),\n        previousQuaternion: entity.object3D.quaternion.clone(),\n        currentQuaternion: entity.object3D.quaternion.clone(),\n      });\n    }\n\n    try {\n      this.transport.postMessage(message, serialized.transfer);\n    } catch (error) {\n      this.failedBodyEntities.add(entity);\n      this.setEngineHandles(entity, 0);\n      this.bodyEntities.delete(handle);\n      this.bodySnapshots.delete(handle);\n      this.bodyResultSequenceFloors.delete(handle);\n      console.error('Failed to create physics body:', error);\n    }\n  }\n\n  private serializeShape(\n    entity: Entity,\n    object3D: Object3D,\n  ): SerializedShape | undefined {\n    const dimensionsView = entity.getVectorView(PhysicsShape, 'dimensions');\n    let shapeType = entity.getValue(PhysicsShape, 'shape');\n\n    if (shapeType === PhysicsShapeType.Auto) {\n      const detection = detectShapeFromGeometry(object3D);\n      entity.setValue(PhysicsShape, 'shape', detection.shapeType);\n      shapeType = detection.shapeType;\n      if (detection.dimensions) {\n        dimensionsView.set(detection.dimensions);\n      }\n    }\n\n    if (\n      shapeType === PhysicsShapeType.Capsules &&\n      !getCapsuleAxisEndpoints(dimensionsView[0], dimensionsView[1])\n    ) {\n      console.warn(\n        'PhysicsSystem: Capsule dimensions require a positive radius and a total height greater than or equal to twice the radius',\n      );\n      return;\n    }\n\n    const descriptor: PhysicsWorkerShapeDescriptor = {\n      type: shapeType as PhysicsWorkerShapeDescriptor['type'],\n      dimensions: [dimensionsView[0], dimensionsView[1], dimensionsView[2]],\n      density: entity.getValue(PhysicsShape, 'density') ?? 1,\n      restitution: entity.getValue(PhysicsShape, 'restitution') ?? 0,\n      friction: entity.getValue(PhysicsShape, 'friction') ?? 0.5,\n    };\n    const transfer: ArrayBuffer[] = [];\n\n    if (\n      shapeType === PhysicsShapeType.ConvexHull ||\n      shapeType === PhysicsShapeType.TriMesh\n    ) {\n      const ownsGeometry = !(object3D instanceof Mesh);\n      const geometry =\n        object3D instanceof Mesh\n          ? object3D.geometry\n          : generateMergedGeometry(object3D);\n      try {\n        const positionAttribute = geometry.attributes.position;\n        if (!positionAttribute) {\n          console.warn(\n            `PhysicsSystem: Failed to get vertices for ${shapeType} shape with object3D name ${object3D.name} &id ${object3D.id}`,\n          );\n          return;\n        }\n\n        const vertices = Float32Array.from(\n          positionAttribute.array as ArrayLike<number>,\n        );\n        descriptor.vertices = vertices.buffer as ArrayBuffer;\n        transfer.push(descriptor.vertices);\n\n        if (shapeType === PhysicsShapeType.TriMesh) {\n          const sourceIndices =\n            geometry.index?.array ?? sequentialIndices(positionAttribute.count);\n          const indices = Uint32Array.from(sourceIndices as ArrayLike<number>);\n          descriptor.indices = indices.buffer as ArrayBuffer;\n          transfer.push(descriptor.indices);\n        }\n      } finally {\n        if (ownsGeometry) {\n          geometry.dispose();\n        }\n      }\n    }\n\n    return { descriptor, transfer };\n  }\n\n  private removeBody(entity: Entity): void {\n    this.failedBodyEntities.delete(entity);\n    const handle = PhysicsBody.data._engineBody[entity.index];\n    if (!handle) {\n      return;\n    }\n\n    this.transport?.postMessage({ type: 'remove-body', handle });\n    this.bodyEntities.delete(handle);\n    this.bodySnapshots.delete(handle);\n    this.bodyResultSequenceFloors.delete(handle);\n    this.discardPendingCommand(handle);\n    this.setEngineHandles(entity, 0);\n  }\n\n  private setEngineHandles(entity: Entity, handle: number): void {\n    if (entity.hasComponent(PhysicsBody)) {\n      entity.setValue(PhysicsBody, '_engineBody', handle);\n      entity.setValue(PhysicsBody, '_engineOffset', 0);\n    } else {\n      PhysicsBody.data._engineBody[entity.index] = handle;\n      PhysicsBody.data._engineOffset[entity.index] = 0;\n    }\n    if (entity.hasComponent(PhysicsShape)) {\n      entity.setValue(PhysicsShape, '_engineShape', handle);\n    } else {\n      PhysicsShape.data._engineShape[entity.index] = handle;\n    }\n  }\n\n  private subscribeReactiveOverrides(): void {\n    this.cleanupFuncs.push(\n      this.queries.gravityOverrides.subscribe('disqualify', (entity) => {\n        if (\n          entity.hasComponent(PhysicsBody) &&\n          entity.hasComponent(PhysicsShape)\n        ) {\n          this.syncGravityFactor(entity);\n        }\n      }),\n      this.queries.linearDampingOverrides.subscribe('disqualify', (entity) => {\n        if (\n          entity.hasComponent(PhysicsBody) &&\n          entity.hasComponent(PhysicsShape)\n        ) {\n          this.syncLinearDamping(entity);\n        }\n      }),\n      this.queries.angularDampingOverrides.subscribe('disqualify', (entity) => {\n        if (\n          entity.hasComponent(PhysicsBody) &&\n          entity.hasComponent(PhysicsShape)\n        ) {\n          this.syncAngularDamping(entity);\n        }\n      }),\n    );\n  }\n\n  private syncReactiveOverrides(): void {\n    this.queries.gravityOverrides.entities.forEach((entity) => {\n      this.syncGravityFactor(entity);\n    });\n    this.queries.linearDampingOverrides.entities.forEach((entity) => {\n      this.syncLinearDamping(entity);\n    });\n    this.queries.angularDampingOverrides.entities.forEach((entity) => {\n      this.syncAngularDamping(entity);\n    });\n  }\n\n  private syncGravityFactor(entity: Entity): void {\n    const index = entity.index;\n    const handle = PhysicsBody.data._engineBody[index];\n    if (!handle) {\n      return;\n    }\n    const target = PhysicsBody.data.gravityFactor[index];\n    if (PhysicsBody.data._engineGravityFactor[index] === target) {\n      return;\n    }\n    const command = this.getPendingCommand(handle);\n    command.flags |= PhysicsCommandFlag.SetGravityFactor;\n    command.gravityFactor = target;\n    PhysicsBody.data._engineGravityFactor[index] = target;\n  }\n\n  private syncLinearDamping(entity: Entity): void {\n    const index = entity.index;\n    const handle = PhysicsBody.data._engineBody[index];\n    if (!handle) {\n      return;\n    }\n    const target = PhysicsBody.data.linearDamping[index];\n    if (PhysicsBody.data._engineLinearDamping[index] === target) {\n      return;\n    }\n    const command = this.getPendingCommand(handle);\n    command.flags |= PhysicsCommandFlag.SetLinearDamping;\n    command.linearDamping = target;\n    PhysicsBody.data._engineLinearDamping[index] = target;\n  }\n\n  private syncAngularDamping(entity: Entity): void {\n    const index = entity.index;\n    const handle = PhysicsBody.data._engineBody[index];\n    if (!handle) {\n      return;\n    }\n    const target = PhysicsBody.data.angularDamping[index];\n    if (PhysicsBody.data._engineAngularDamping[index] === target) {\n      return;\n    }\n    const command = this.getPendingCommand(handle);\n    command.flags |= PhysicsCommandFlag.SetAngularDamping;\n    command.angularDamping = target;\n    PhysicsBody.data._engineAngularDamping[index] = target;\n  }\n\n  private queueManipulations(): void {\n    this.queries.manipluatedEntities.entities.forEach((entity) => {\n      const handle = entity.getValue(PhysicsBody, '_engineBody');\n      if (!handle || !entity.object3D) {\n        return;\n      }\n\n      const force = entity.getVectorView(PhysicsManipulation, 'force');\n      const linearVelocity = entity.getVectorView(\n        PhysicsManipulation,\n        'linearVelocity',\n      );\n      const angularVelocity = entity.getVectorView(\n        PhysicsManipulation,\n        'angularVelocity',\n      );\n      const hasForce = !isZeroVector(force);\n      const hasLinearVelocity = !isZeroVector(linearVelocity);\n      const hasAngularVelocity = !isZeroVector(angularVelocity);\n      if (!hasForce && !hasLinearVelocity && !hasAngularVelocity) {\n        entity.removeComponent(PhysicsManipulation);\n        return;\n      }\n      const command = this.getPendingCommand(handle);\n\n      if (hasForce) {\n        command.flags |= PhysicsCommandFlag.ApplyImpulse;\n        const impulsePosition =\n          this.bodySnapshots.get(handle)?.currentPosition ??\n          entity.object3D.position;\n        command.impulsePoint[0] = impulsePosition.x;\n        command.impulsePoint[1] = impulsePosition.y;\n    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package/dist/physics/physics-transport.js.map

@@ -1 +1 @@
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error.message : String(error),\n          });\n        }\n      });\n  }\n\n  terminate(): void {\n    if (this.terminated) {\n      return;\n    }\n    this.terminated = true;\n    this.runtime?.destroy();\n    this.runtime = undefined;\n    this.onmessage = null;\n    this.onerror = null;\n    this.onmessageerror = null;\n  }\n\n  private async getRuntime(): Promise<PhysicsRuntime> {\n    if (!this.runtime) {\n      const { PhysicsRuntime } = await import('./physics-runtime.js');\n      if (this.terminated) {\n        throw new Error('Physics transport was terminated during startup');\n      }\n      this.runtime = new PhysicsRuntime();\n    }\n    return this.runtime;\n  }\n\n  private emit(message: PhysicsWorkerOutputMessage): void {\n    if (!this.terminated) {\n      this.onmessage?.({\n        data: message,\n      } as MessageEvent<PhysicsWorkerOutputMessage>);\n    }\n  }\n\n  private async handleMessage(\n    message: PhysicsWorkerInputMessage,\n  ): Promise<void> {\n    const runtime = await this.getRuntime();\n    switch (message.type) {\n      case 'init':\n        await runtime.initialize(message.gravity);\n        this.emit({ type: 'ready' });\n        break;\n      case 'set-gravity':\n        runtime.setGravity(message.gravity);\n        break;\n      case 'add-body':\n        try {\n          const centerOfMass = runtime.addBody(message);\n          this.emit({\n            type: 'body-created',\n            handle: message.handle,\n            centerOfMass,\n          });\n        } catch (error) {\n          this.emit({\n            type: 'error',\n            handle: message.handle,\n            message: error instanceof Error ? 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package/dist/physics/physicsManipulation.js.map

@@ -1 +1 @@
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+{"version":3,"file":"physicsManipulation.js","sources":["../../src/physics/physicsManipulation.ts"],"sourcesContent":["/**\n * Copyright (c) Meta Platforms, Inc. and affiliates.\n *\n * This source code is licensed under the MIT license found in the\n * LICENSE file in the root directory of this source tree.\n */\n\nimport { Types, createComponent } from '../ecs/component.js';\n\n/**\n * Component for applying one‑time physics manipulations to an entity.\n *\n * @remarks\n * - This component is automatically removed after the manipulations are applied.\n * - Force is applied as an impulse at the entity's center of mass.\n * - Setting linear or angular velocity overrides the current velocity.\n * - All manipulations are applied in a single frame, then the component is removed.\n * - Requires the entity to have {@link PhysicsBody}.\n *\n * @example Apply an upward force to make an object jump\n * ```ts\n * entity.addComponent(PhysicsManipulation, {\n *   force: [0, 10, 0]\n * })\n * ```\n *\n * @example Set specific velocity for controlled movement\n * ```ts\n * entity.addComponent(PhysicsManipulation, {\n *   linearVelocity: [5, 0, 0],\n *   angularVelocity: [0, 2, 0]\n * })\n * ```\n *\n * @category Physics\n * @see {@link PhysicsSystem}\n * @see {@link PhysicsBody}\n */\n\nexport const PhysicsManipulation = createComponent(\n  'PhysicsManipulation',\n  {\n    force: { type: Types.Vec3, default: [0.0, 0.0, 0.0] },\n    linearVelocity: { type: Types.Vec3, default: [0.0, 0.0, 0.0] },\n    angularVelocity: { type: Types.Vec3, default: [0.0, 0.0, 0.0] },\n  },\n  'Component to apply physics manipulations to an entity.',\n);\n"],"names":[],"mappings":";;AAAA;;;;;AAKG;AAIH;;;;;;;;;;;;;;;;;;;;;;;;;;;;AA4BG;AAEI,MAAM,mBAAmB,GAAG,eAAe,CAChD,qBAAqB,EACrB;AACE,IAAA,KAAK,EAAE,EAAE,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,OAAO,EAAE,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,EAAE;AACrD,IAAA,cAAc,EAAE,EAAE,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,OAAO,EAAE,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,EAAE;AAC9D,IAAA,eAAe,EAAE,EAAE,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,OAAO,EAAE,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,EAAE;CAChE,EACD,wDAAwD;;;;"}